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As far as I know, there isn't a way to visualize friction forces in the 3D scene, but it should be possible to implement a plugin for that.

If all you want is to check the values for mu, mu2 and fdir1, they should be visible on the left panel, just find the link you're interested in and check its collision -> surface -> friction. Unfortunately, you will need to reopen the the panel to refresh the numbers (click again on the link's name and see the Property/Value panel update.

I've never tried to change friction dynamically though, so there's a possibility these values might not update (in that case we should create an issue for that).